SLAM Handbook Public Release

Together with a large number of experts in Simultaneous Localization and Mapping (SLAM) we are preparing the SLAM Handbook to be published by Cambridge University Press. This book will cover the theoretical background of SLAM, its applications, and its future as spatial AI. We expect this handbook will be a good guideline for those working in this field. Starting from the release of Part 1 in November 2024, and Part 2 in March 2025, we will incrementally release the other parts to accommodate feedback from the public. Please use this repository's issue and discussion board to report any issues or ideas regarding this book.

Part 1 Release (Nov 2024)

• Chapter1: Prelude
• Chapter2: Factor Graphs for SLAM
• Chapter3: Advanced State Variable Representations
• Chapter4: Robustness to Incorrect Data Association and Outliers
• Chapter5: Differentiable Optimization
• Chapter6: Dense Map Representation
• Chapter7: Theoretical Properties (TBD)

Part 2 Release (Mar 2025)

• Chapter8: Part 2 Prelude
• Chapter9: Visual SLAM
• Chapter10: LiDAR SLAM
• Chapter11: Radar SLAM
• Chapter12: Event-based SLAM
• Chapter13: Inertial Odometry for SLAM
• Chapter14: Leg Odometry for SLAM

Part 3 Release (TBD)

• Chapter15: Part 3 Prelude
• Chapter16: Spatial AI
• Chapter17: Boosting SLAM with Deep Learning
• Chapter18: NeRF and GS
• Chapter19: Dynamic and Deformable SLAM
• Chapter20: Metric-Semantic SLAM
• Chapter21: Foundation Models for SLAM

Contributors of the Book (in an alphabetical order by their last name)

We deeply appreciate your contribution to this book!

Henrik Andreasson Arash Asgharivaskasi Nikolay Atanasov Timothy Barfoot Jens Behley Cesar Cadena Marco Camurri Luca Carlone Yun Chang Boris Chidlovskii Margarita Chli Henrik Christensen Javier Civera Daniel Cremers Andrew J. Davison Frank Dellaert Jia Deng Kevin Doherty Jakob Engel Maurice Fallon Guillermo Gallego Cédric Le Gentil Christoffer Heckman Javier Hidalgo-Carrió Connor Holmes Guoquan Huang Shoudong Huang Nathan Hughes Krishna Murthy Jatavallabhula Michael Kaess Kasra Khosoussi Ayoung Kim Giseop Kim John Leonard Stefan Leutenegger Martin Magnusson Joshua Mangelson Hidenobu Matsuki Matias Mattamala José M Martínez Montiel Mustafa Mukadam Jose Neira Paul Newman Helen Oleynikova Lionel Ott Liam Paull Marc Pollefeys Victor Reijgwart Jerome Revaud David Rosen Davide Scaramuzza Lukas Schmid Jingnan Shi Cyrill Stachniss Niko Sunderhauf Juan D. Tardós Zachary Teed Teresa Vidal-Calleja Chen Wang Felix Wimbauer Heng Yang Fu Zhang Ji Zhang Shibo Zhao